You get a startup problem from Jersey complaining about the configuration and you blame it on Maven? Poor Maven.

What that error seems to vaguely want to tell you is that the pal.restfulservice you refer to in your web.xml is not properly deployed to the server. Error research 101: copy paste the error "com.sun.jersey.api.container.ContainerExcepti on: The ResourceConfig instance does not contain any root resource classes." into google and see what you get.

a) BUILDING the application; Maven is helping you there
b) DEPLOYING the application (to the server). There is a plugin for Maven that also allows it to deploy an application, but I am 99% sure you are not using that

So the deploying part is entirely your responsibility. Likely you are using an IDE to deploy the stuff for you, but then you have to be sure the IDE is setup correctly to do the deployment properly so it puts all the files in the correct position, including the libraries that Maven collected for you.

In other words: it is not automatic, you need to know how your tools work.

it is right i don't use extra plugin for Maven that allows it to deploy the application, because that i am totally new with maven and have project already too late.
can you help me which plugin in this case should i add to pom.xml?

The application does not magically appear in your Tomcat server, how does it get there and in what form? Do you deploy individual files to the webapps folder, or do you put the war that Maven builds there?

In other words Eclipse does the deployment for you. I return to my earlier statement: somewhere in your Eclipse project setup there is a flaw. Did you even create an Eclipse project with Maven capabilities?

I can't help you any further like this, because you simply don't know the tools you're using I feel like I'm speaking Chinese to you. I wrote an article with screenshots and everything about how to deploy a JSF based application from Eclipse to Tomcat where the project is Mavenized, perhaps following that you can spot what you missed.

I suspect you are making a common mistake.
The tools aren't there to do the job for you so you don't have to understand what is going on.
You need to understand what is involved with a webapp, what the various parts are and what they do, before you should consider letting something like Eclipse (or Maven) do it all for you. That way you know what the thing is doing and, when it goes wrong, what exactly is wrong.

It's a bit like people jumping into coding in an IDE without the faintest idea of what a classpath is and how it affects Java.